WO2002037452A1

WO2002037452A1 - Simulator device having at least two degrees of freedom of motion for an instrument

Info

Publication number: WO2002037452A1
Application number: PCT/EP2001/012649
Authority: WO
Inventors: Klaus M. Irion; Ralph BÖHM; Stefan Kolberg; Thomas Viebach
Original assignee: Karl Storz Gmbh & Co. Kg
Priority date: 2000-11-03
Filing date: 2001-10-31
Publication date: 2002-05-10
Also published as: DE10055292A1; DE10055292B4; EP1332484B1; US20040101813A1; EP1332484A1; DE50110288D1; US6902405B2

Abstract

A simulator device having at least two degrees of freedom of motion for an instrument (12) that comprises an elongated shaft (14) has a holding device (24) for the instrument (12). Said holding device (24) is designed in such a manner that the instrument (12) has at least one first degree of freedom of a pivotal motion about a fist pivotal axis (26) and has at least one second degree of freedom of a pivotal motion about a second pivotal axis (28) running perpendicular to the first pivotal axis (26). The holding device (24) comprises a cardanic suspension having a spherical element (46), which is suspended such that it can rotate about the first pivotal axis (26) and about the second pivotal axis (28), and inside of which the shaft (14) is partially accommodated.

Description

Simulator device with at least two degrees of freedom of movement for an instrument

The invention relates to a simulator device with at least two degrees of freedom of movement for an instrument, which has an elongated shaft, with a holding device for the instrument, the holding device being designed such that the instrument has at least a first degree of freedom of a pivoting movement about a first pivot axis and at least a second Has a degree of freedom of a pivoting movement about a second pivot axis running perpendicular to the first pivot axis.

Such a simulator device is, for example, from the US

6,024,576 known. i

In general, such a simulator device is used as an interface between an operator and an instrument in simulators. A special use, to which the following description refers, without the present invention being restricted thereto, is the integration of a simulator device mentioned at the beginning in a simulator for simulation of minimally invasive surgery on a human or animal body.

The term “instrument” is to be understood generally in the sense of the present invention, and can be an endoscope, a working instrument, such as scissors, pliers, a dissector, clamp applicator, etc. in a medical simulation.

Minimally invasive surgery has become significantly more important than open surgery in recent years. In minimally invasive surgery, minimal incisions are used to introduce a vision system, for example an endoscope, and one or more instruments, such as pliers, scissors, HF instruments, clamp applicators, etc. With the aforementioned instruments, in combination with peripheral devices, the minimally invasive surgical operation is carried out with video support.

Minimally invasive surgery is currently used, for example, to remove the gallbladder, appendix and to treat fracture surgery. Further areas of application are opened up.

"Minimally invasive" surgery is not only to be understood as surgical interventions, but also other interventions such as the introduction of substances into the body or biopsies using the minimally invasive technique.

The advantage of the minimally invasive technique compared to open interventions lies in the patient-friendly treatment, which requires less surgical trauma and shorter stays Hospitals and a shorter incapacity for work.

Compared to open surgery, however, the handling of the instruments during a surgical procedure is much more complicated, partly because the freedom of movement of the instrument inserted through the incision is limited due to the small incision, and partly because the operating doctor has no spatial view of those in the body working tip of the instrument and the area of operation itself, but only a two-dimensional visual control is possible via the video monitor. It goes without saying that the coordination of the management and operation of the instrument or instruments is thereby made more difficult.

There is therefore an increased need for training in the new techniques of minimally invasive surgery. There are currently various alternatives for training surgical techniques in minimally invasive surgery.

An alternative is to perform training operations in vivo on animals, especially pigs. However, such training is cost-intensive, time-consuming to prepare and, furthermore, ethically questionable.

In a further alternative, doctors are trained on in vitro organs in a training box into which the instruments can be introduced accordingly. The organs arranged in the training box are biological organs, but training with this alternative is also timely. time-consuming to prepare and cannot be considered realistic.

Finally, minimally invasive surgery is currently being trained on organ models or training objects in a training box. Organ models of this type are not sufficiently realistic for training an entire operation. In addition, a not inconsiderable amount of preparation for the preparation of the organ models and training objects is necessary, since the models are usually destroyed during the operation and have to be prepared again for a new training.

Due to the disadvantages of the previously used training systems, there was a need early on for so-called virtual simulators with which the disadvantages of the previous training systems could be overcome.

In virtual simulation, the actual operating field is generated exclusively on a computer. For a realistic simulation, a model database is required that defines the geometric shapes and physical properties of the tissues, organs and vessels, as well as the geometry and kinematics of the instrument or instruments. In the journal "Biomedical Journal", volume No. 51, April 1998, U. Kühnapfel describes a "virtual reality training system for laparoscopy", which has an input box that externally shows the familiar instrument handles and a virtual endoscope , The minimally invasive instruments are guided in the housing in a mechanical guide system, which also allows the deflection of the instruments and effectors to be recorded. To- There are also various foot switches that can be used to activate surgical and general functions. A sensor data acquisition, for example via an angle encoder, on a PC basis measures the joint positions of the operating instruments and transmits them continuously to a graphics workstation. From this, a "virtual" image of the endoscope view is calculated in real time. The consistency of the tissue to be treated is realistically reduced by inherently calculated "virtual" reaction forces between organs and instruments as a force reaction on the operator. i_

Accordingly, no physical organs are used in the virtual simulation of minimally invasive interventions, but the spatial and physiological structures of such organs are available as data in a computer. The above-mentioned simulator device forms the interface between the operator and the instrument to be handled and the simulation computer system. The operator to be trained handles the instrument recorded in the mechatronic simulator device, the data stored in the computer relating to the spatial and physiological structure of the virtual organ being transferred from the simulator device to the instrument as a reaction of force when the instrument is being handled, as a result of which the operator is given a realistic feel becomes.

The previous developments in this area have primarily focused on the creation of the simulation software, while previously available mechatronic simulator devices were used with localization options. For a realistic simulation, the simulator All the degrees of freedom of a minimally invasive surgical instrument, namely a tilt of the instrument around the body surface, a movement in the direction of the shaft and a rotational movement about the longitudinal axis of the shaft, must be taken into account. However, the mechanical implementation of these many degrees of freedom in the holding device of the simulator device for the instrument is problematic.

For example, the simulator device known from the already mentioned US Pat. No. 6,024,576 consists of a complicated mechanical lever system, the disadvantage of which is in particular that the simulator device is very large overall. With such a simulator device, it is therefore not possible to bring several instruments so close together with two or more devices that the instrument tips can touch. Due to the many levers used in this known simulator device, disturbing moments of inertia and torques occur when using this simulator device, which must be compensated in a complex manner in order to enable realistic force feedback.

WO 96/30885 discloses a virtual surgery system for simulating surgical interventions on the basis of image data. It can be used to simulate a surgical procedure using a patient's image data, and to simulate the instruments used by a surgeon to perform an actual procedure. As an input device, this known device has a mouse, a three-dimensional mouse, a joystick or a seven-dimensional joystick. The joystick provided in the known device is designed in the form of a lever, at the lower end of which a ball is arranged, which is in a ball socket ne can be rotated in different solid angle directions. However, a mouse or joystick is not the equivalent of using an actual surgical instrument.

Furthermore, a simulator device for simulating the insertion of a catheter into blood vessels is known from EP-0 970 662 A1. The simulated catheter only has degrees of freedom of rotation about the longitudinal axis of the catheter and a translational movement in the direction of the longitudinal axis of the catheter. To achieve a force reaction, a gear arrangement is provided which, among other things, has a differential gear which, however, is arranged laterally apart from the longitudinal central axis of the catheter and which is connected to the catheter via various tripods and mounting devices.

The invention is therefore based on the object of specifying a simulator device of the type mentioned at the outset, which has a compact design and a low-torque mechanism.

According to the invention, this object is achieved in the simulator device of the type mentioned in the introduction in that the holding device has a cardanic suspension which has a spherical element which is suspended rotatably about the first pivot axis and about the second pivot axis and in which the shaft is partially accommodated.

The simulator device according to the invention accordingly has a cardanic suspension for the instrument, which has the advantage of guiding the instrument in the holding device with particularly little torque. The gimbal allows the swiveling movements of the instrument to be superimposed about the first pivot axis as well as the second pivot axis. While in a real intervention an operating instrument can usually be pivoted about the plane of the body surface about two mutually perpendicular axes that intersect in the incision, the simulator device according to the invention enables realistic simulation of such manipulations of an instrument.

In a preferred embodiment, the gimbal is formed by a bow-shaped element which can be pivoted about the first pivot axis and an annular element which can be pivoted about the second pivot axis and to which the spherical element is connected, the instrument being guided on the bow-shaped element ,

With this configuration, a structurally particularly simple gimbal suspension is realized, which has the further advantage that in the event that the simulator device, as is provided in a further preferred embodiment, is provided with a force reaction for the first and second degrees of freedom, the corresponding actuators for the force reaction can be provided stationary on the device and therefore do not have to be moved, whereby a particularly low-torque mechanism of the simulator device can be achieved.

In a further preferred embodiment, two mutually opposite receptacles for the spherical element are arranged on the ring-shaped element, offset with respect to the second pivot axis, the spherical element being rotatable in the receptacles about an axis of rotation passing through both receptacles relative to the receptacles . is held immovable with respect to the recordings perpendicular to this axis of rotation.

This measure has the advantage that the instrument itself only has to be guided on the bow-shaped element with respect to a pivoting movement about the first pivot axis, while the guidance of the instrument with respect to the pivoting movement about the second pivot axis is via the spherical element, the receptacles and these the annular element is accomplished.

As already mentioned, the first degree of freedom and the second degree of freedom are provided with a force reaction, whereby in a further preferred embodiment at least one actuator is provided for the force reaction on the first and second degrees of freedom, which act on the bow-shaped element or the annular element ,

The above-described configuration advantageously avoids moving actuators.

In a further preferred embodiment, the holding device is designed such that the instrument has a third degree of freedom of a rotary movement about the longitudinal axis of the shaft and a fourth degree of freedom of a translatory movement in the direction of the shaft.

With the aforementioned configuration, the simulator device according to the invention advantageously also enables realistic movements of an instrument in the direction of the longitudinal axis and rotary movements about the longitudinal axis of the shaft. The invented Simulator device according to the invention thus enables at least four degrees of freedom of movement for the instrument.

It is preferred if the holding device for the third and fourth degrees of freedom has a gear arrangement which has a first bevel gear which is connected to the shaft and rotates therewith about its longitudinal axis and a second and a third bevel gear which are arranged on both sides of the first bevel gear are and are rolling with this.

The simulator device according to the invention therefore has a differential gear-like gear arrangement for the third and fourth degrees of freedom, which has the advantage that it can be arranged around the shaft of the instrument and is particularly small, in particular large radii of movement of the moving parts as in the known lever arrangements avoided. As a result, the instrument is guided in the holding device with a particularly low number of moments. As indicated in a further preferred embodiment, both the degree of freedom of the rotary movement about the longitudinal axis of the shaft and the degree of freedom of the translational movement in the direction of the shaft can be realized with a force reaction through the gear arrangement, and a superposition of both movements is also achieved by the invention provided gear arrangement allows low torque. Furthermore, the gear arrangement with three bevel gears has the advantage that the actuators, for example electric motors, which may be present for a reaction of force can be arranged immovably in the simulator device, thereby avoiding further moments of inertia or torque and an increased space requirement for a movement of such motors. In a further preferred embodiment, the first bevel gear is in rolling engagement with the shaft via one or more pinions with teeth extending on the shaft.

This measure results in a particularly low-torque transmission of a translatory movement of the shaft along its longitudinal axis to the first bevel gear. With such a longitudinal movement of the shaft, the first bevel gear is set in rotation about its longitudinal axis and thus sets the second and the third bevel gear in mutually opposite rotary movements. A reaction to the force on the degree of freedom of the rotary movement around the shaft can thus be realized particularly simply in that the second and third bevel gears, which are inhibited by one or more actuators, are provided as in a further preferred embodiment. In order to achieve a force reaction on the degree of freedom of the translatory movement, the second and the third bevel gear are then driven in opposite directions with the same moment and the same speed.

With the same actuators, however, a reaction to the force on the degree of freedom of the rotary movement of the shaft about its longitudinal axis can also be achieved. When the instrument is rotated about its longitudinal axis, as already mentioned, the first bevel gear is also rotated about the longitudinal axis of the shaft, and this causes the second and third bevel gears to rotate in the same direction. In order to achieve a force reaction on the degree of freedom of the rotary movement of the shaft about its longitudinal axis, the actuators must accordingly inhibit the second and the third bevel gear in the same direction with the same torque. In a further preferred embodiment, the second and the third bevel gear are arranged concentrically to the shaft.

This arrangement of the second and third bevel gear results in a particularly space-saving, small-sized construction of the gear arrangement and the overall arrangement of the shaft and gear arrangement.

In a further preferred embodiment, the gear arrangement is arranged in the spherical element.

This measure achieves a particularly space-saving design of the entire simulator device despite the at least four possible degrees of freedom of movement of the instrument. Due to its arrangement in the spherical element, the gear arrangement performs the pivoting movements together with the instrument about the first and second pivot axes. The gear arrangement is thus gimbaled in a particularly space-saving manner.

In a further preferred embodiment, a position detection sensor is provided for determining the position of the instrument for at least one degree of freedom, preferably for all degrees of freedom.

With such position detection sensors, the instantaneous values of all degrees of freedom of the instrument, which are made possible by the simulator device according to the invention, can be recorded in real time and, in turn, can be used in real time for the generation of signals for the force reaction by means of corresponding signal processing in a computer. In a further preferred embodiment, the instrument has a movable handle and the movable handle is equipped with a force reaction.

This measure has the advantage, in particular when the instrument is not an endoscope but a surgical instrument such as a pair of pliers or scissors, that the force resistances occurring during tissue preparation, for example cutting or gripping, can also be simulated by the simulator device according to the invention , In the simplest case, a Bowden cable can be attached to the movable handle, which is connected to an actuator, which in turn receives control signals from the simulation computer system. With the aforementioned configuration, the simulator device according to the invention even has five degrees of freedom for the simulation.

In a preferred use of the simulator device, this is used to simulate a minimally invasive intervention on the human or animal body.

Further features and advantages result from the following description and the attached drawing.

It goes without saying that the features mentioned above and those yet to be explained below can be used not only in the combination indicated in each case, but also in other combinations or on their own without departing from the scope of the present invention. An embodiment of the invention is shown in the drawing and will be described in more detail below with reference to this. Show it:

1 is an overall perspective view of a mechatronic simulator device for simulating at least two degrees of freedom of movement of an instrument with force feedback; | _

FIG. 2 shows the simulator device in FIG. 1 in an operating position that has been changed compared to FIG. 1;

3 shows the simulator device in FIGS. 1 and 2 in a further operating position that has been changed compared to FIGS. 1 and 2;

4 shows a side view of the simulator device in FIGS. 1 to 3 with partial omissions and partly in section;

5 shows a further side view of the simulator device in FIGS. 1 to 4, the side view being rotated by approximately 90 ° with respect to FIG. 4;

6 shows a gear arrangement in the simulator device in FIGS. 1 to 5 in a perspective illustration on an enlarged scale;

7 shows a detail of the simulator device in FIGS. 1 to 5 in a longitudinal section on an enlarged scale; and 8 shows a section along the line VIII-VIII in FIG. 7.

1 to 5 show a simulator device provided with the general reference number 10 for simulating at least two degrees of freedom of movement of an instrument 12.

The simulator device 10 is used in particular for the simulation of minimally invasive surgical interventions on the human or animal body for the training of doctors.

In the exemplary embodiment shown, the instrument 12 is a preparation forceps for cutting tissue. Instead of such dissecting pliers, however, an endoscope can also be used as an instrument 12 in the simulator device 10, or other working instruments such as clamp applicators, suction and irrigation instruments and the like can be inserted into the simulator device 10. The instrument 12 can be removed from the simulator device for an instrument change.

The instrument 12 generally has an elongated shaft 14 which is guided through or received in the simulator device 10, a tool 16 at the distal end of the shaft, which in the present exemplary embodiment has two jaw parts provided with cutting edges, for example, and a handle 18 at the proximal end of the shaft 14. The handle 18 has a movable handle part 20 and an immovable handle part 22.

The simulator device 10 has a holding device 24, which is described in more detail below. The holding device 24 has a gimbal 25. The cardanic suspension 25 enables the simulation of a degree of freedom of a pivoting movement of the instrument 12 about a first pivot axis 26 and a further degree of freedom of a pivoting movement of the instrument 12 about a second pivot axis 28 running perpendicular to the first pivot axis 26. With these two degrees of freedom, any tilt positions of the Instruments 12 with respect to a surface 30 which, when the simulator device 10 is used to simulate minimally invasive interventions on the human or animal body, simulates the body surface of a patient. The point of intersection between the pivot axes 26 and 28, which lies at a point on the longitudinal axis of the shaft 14, represents the invariant point of the pivoting movements of the instrument 12. Since in real minimally invasive surgery the instrument is passed through an incision in the body surface , and the invariant point lies approximately in the incision, the arrangement of the pivot axes 26 and 28 in the simulator device 10 is such that the intersection lies approximately at the level of the surface 30 or slightly below.

To implement the pivot axis 26 of the gimbal 25, the gimbal 25 has a bow-shaped element 32 which is approximately semicircular. The bow-shaped element 32 is mounted on a mounting frame 34 (FIGS. 4 and 5), which itself is immovable, so as to be pivotable about the pivot axis 26.

The cardanic suspension 25 has an annular element 36, which is arranged inside the bow-shaped element 32, for realizing the pivot axis 28. The ring-shaped Element 36 is suspended around the second pivot axis 28 by means of mounting brackets 38 and 40.

On the annular element 36, two receptacles 42 and 44, which are arranged offset by approximately 90 ° with respect to the second pivot axis 28, are also fastened. The receptacles 42 and 44 are designed as spherical shell segments and receive a spherical element 46. '

The shaft 14 of the instrument 12 is received in the spherical element 46 or passes through it, as will be described in more detail later.

The spherical element 46 is supported in the receptacles 42 and 44 by means of two pins 46 and 48 (indicated by broken lines) which engage in corresponding bores in the spherical element 46. The spherical element 46 is thus rotatable about an axis of rotation 52 defined by the pins 48 and 50 relative to the receptacles 42 and 44, but perpendicular to this axis of rotation 52 but immovable with respect to the receptacles 42 and 44. Overall, the spherical element 46 is movable relative to the bow-shaped element 32 and also to the annular element 36.

The shaft of the instrument 14 is guided only in the bow-shaped element 32, but not in the annular element 36. For this purpose, the shaft 14 is guided in the bow-shaped element 32 via a sleeve 52, which projects through an elongated hole 54 formed in the bow-shaped element 32. The shaft 14 can move together with the sleeve 52 in the longitudinal direction of the elongated hole 54 jcwcjen when the instrument 12 is pivoted about the second pivot axis 28.

Both the degree of freedom of the pivoting movement about the first pivot axis 26 and the degree of freedom of the pivoting movement about the second pivot axis 28 are each provided with a force reaction.

For this purpose, an actuator, for example a DC motor, is arranged for the bow-shaped element 32, which can be pivoted about the first pivot axis 26, for the reaction of force on the bow-shaped element 32. For position detection, i.e. To determine the angle of the angular position of the bow-shaped element 32, a position detection sensor 58 is arranged opposite the actuator 52, for example in the form of a potentiometer or an incremental angle encoder.

Correspondingly, as a force reaction for the degree of freedom of the pivoting movement about the second pivot axis 28, a further actuator 60 is connected to the annular element 36 via the mounting bracket 40 and a position detection sensor 62 is connected via the mounting bracket 38.

The functioning of the gimbal 25 without and with force reaction is therefore as follows. An operator, for example a doctor to be trained, grips the handle 18 of the instrument 12 with one hand. By moving the handle 18, the instrument 12 can now be moved around the invariant point formed by the intersection of the first pivot axis 26 with the second pivot axis 28 the plane 30 in any solid angle tilt directions. This is shown as an example in FIGS. 1 to 3 on the basis of various tilt positions.

The instrument 12 has been tilted about the second pivot axis 28 from the tilt position in FIG. 1, while the pivot position with respect to the first pivot axis 26 has remained unchanged. During this movement, the annular element 36 has correspondingly tilted about the second pivot axis 28, while the spherical element 46 has changed its position in relation to the bow-shaped element 32, but not in relation to the annular element 36. The sleeve 52 with the shaft 14 has changed accordingly moved to the right in the elongated hole 54 of the bow-shaped element 32 in the drawing.

Starting from FIG. 2, the tilting position shown in FIG. 3 is achieved in that the instrument 12 has been pivoted about the first pivot axis 26 in the direction of the plane of the drawing. The annular element 36 has not moved in the process, but the spherical element 48 has moved relative to the annular element 36.

In order to simulate a force resistance in the above-described movements of the instrument 12, which can be overcome, for example, by the elasticity, rigidity of a simulated tissue when handling the instrument 12, the above-mentioned movements can be controlled by software-controlled computer-controlled actuators 56 and 60 are counteracted, so that the operator feels a "real" force resistance, as if he performs the same operations on a patient. The position detection sensors 58 and 62 continuously detect the current angular positions of the instrument 12 about the first pivot axis 26 and the second pivot axis 28 in real time, and the actuators 56 and 60 for the force reaction are activated in real time on the basis of this data and the tissue data stored in the computer.

It goes without saying that the instrument 12 can not only be swiveled in succession about the first swivel axis 26 and the second swivel axis 28, but also in both solid angle directions simultaneously about both swivel axes 26 and 28.

It follows from the above that the actuators 56 and 60 and the position detection sensors 58 and 62 were not moved during the movements of the instrument 12 and the associated movements of the annular element 36, the bow-shaped element 32 and the spherical element 46, so that the holding device 24 is very low in moment and the gimbal 25 represents a very compact design for realizing the degrees of freedom mentioned above.

According to a further aspect, the simulator device 10 has a gear arrangement 70, which is described in more detail below with reference to FIGS. 6 to 8.

The gear arrangement 70 is a component of the holding device 24 for the instrument 12, it being possible to use the gear arrangement 70 to simulate further degrees of freedom of movement for the instrument 12 with the reaction of force. These further degrees of freedom are a degree of freedom of a rotary movement of the instrument 12 about the longitudinal axis of the shaft 14 and α by a further degree of freedom of a translatory movement of the instrument 12 in the direction of the shaft 14.

The gear arrangement 70 provided for the simulation of these two aforementioned degrees of freedom with force reaction is arranged as a whole in the spherical element 46 of the gimbal 25, as can be seen from FIGS. 7 and 8. 6, the gear arrangement 70 without the spherical element 46 is shown in perspective on an enlarged scale.

The gear arrangement 70 initially has a first bevel gear 72. The first bevel gear 72 is rotatable about an axis of rotation 74 extending transversely to the shaft 14. On a frustoconical circumferential surface 76, the first bevel gear 72 has teeth that are not shown in FIG. 6. Instead of a toothing, the frustoconical surface 76 can also be designed as a friction surface.

The gear arrangement 70 also has a second bevel gear 78 and a third bevel gear 80, the second bevel gear 78 and the third bevel gear 80 being arranged on both sides of the first bevel gear 72. The second bevel gear 78 and the third bevel gear 80 are arranged around the shaft 14 of the instrument 12, coaxially therewith. The bevel gears 78 and 80 are accordingly rotatable about the longitudinal axis of the shaft 14. The axes of rotation of the bevel gears 78 and 80 are perpendicular to the axis of rotation of the bevel gear 72.

The second bevel gear 78 has a frusto-conical surface 82 and the third bevel gear 84 has a frusto-conical surface 84, the frusto-conical surfaces 82 and 84 with the keg .mpfförmigen surface 76 of the first bevel gear 72 are rolling. Correspondingly, the frustoconical surfaces 82 and 84 have serrations or are designed as friction surfaces.

While the second bevel gear 78 and the third bevel gear 80 are not connected to the shaft 14, the first bevel gear 72 is connected to the shaft 14 via a pinion arrangement which has a first pinion 86 and a second pinion 88. The first pinion 86 is rotatably connected to the second pinion 88 via a shaft 90. An axis of rotation of the arrangement of the first pinion 86, the shaft 90 and the second pinion 88 runs parallel to the axis of rotation 74 of the first bevel gear 70.

The first bevel gear 72 has a spur gear 92 which meshes with the first pinion 86.

In contrast, the second pinion 88 is in engagement with a toothing 94 extending along the shaft 14.

The spur gear 92 can be formed in one piece with the first bevel gear 72 or connected to it in a rotationally fixed manner as a separate part.

7 and 8, the gear arrangement 70 is arranged within the spherical element 46 in a recess 96 therein.

The shaft 14 of the instrument 12 is passed through cylindrical sleeves 98 and 100 through the gear arrangement 70. Due to the toothing 94 provided on the shaft 14, the In cross section, shaft 14 has a key-like profile, the gear arrangement having a keyhole-like bushing 102 (FIG. 8) that is complementary thereto. In this way, the first bevel gear 72 is connected in a rotationally fixed manner to the shaft 14 via the pinions 86 and 88, ie when the shaft 14 rotates about its longitudinal axis, the first bevel gear 72 becomes in the spherical element 48 depending on the direction of rotation of the shaft according to a double arrow 104 rotated about the longitudinal axis of the shaft 14. |

The second bevel gear 78 is rotatably connected to an annular flange 106. The third bevel gear 80 is non-rotatably connected to a cylindrical socket 108, which in turn is non-rotatably connected to a further ring flange 110. The ring flange 106, which is non-rotatably connected to the second bevel gear 78, has teeth on its outer circumference which mesh with a pinion 112 which is connected to the output shaft of an actuator 114, for example a DC motor, to the output shaft thereof ,

The ring flange 110, which is connected in a rotationally fixed manner to the third bevel gear 80 via the socket 108, likewise has teeth on its outer circumference, which meshes with a pinion 114 which is connected on the output side to an actuator 118.

The actuators 114 and 118 serve as a force reaction for the degree of freedom of the translational movement in the direction of the shaft and as a force reaction for the degree of freedom of the rotary movement of the instrument 12 around the shaft 14, as will be described in more detail below. The mode of operation of the gear arrangement 70 is as follows, the mode of operation being described without force reaction first.

If the instrument 12 is rotated about the longitudinal axis of the shaft 14, the shaft 14 rotates the pinions 88 and 86 and thus the first bevel gear 72 in the direction of rotation of the shaft 14 due to the keyhole-like connection with the keyhole-like passage 102. The first bevel gear 72 is floatingly supported within the can 108. During this rotation of the first bevel gear 72 about the longitudinal axis of the shaft 14, the first bevel gear 72 does not rotate about its axis of rotation 74. In contrast, the bevel gear 72 rotating about the longitudinal axis of the shaft 14 displaces the second bevel gear 78 and the third bevel gear 80 in relation to one another co-rotating movement.

If the instrument 12 is displaced along the direction of the shaft 14 in the holding device 24, the toothing 94 causes the pinion 88 and thus the pinion 86 to rotate, which causes a corresponding rotation of the bevel gear 72 about the axis of rotation 74, without it the bevel gear 72 rotates about the longitudinal axis of the shaft 14 as previously described. Due to the rotation of the first bevel gear 72 about the axis of rotation 74, the second bevel gear 78 and the third bevel gear 80 are now set in mutually opposite rotary movements.

In order to bring about a force reaction on the degree of freedom of rotation of the instrument 12 about the longitudinal axis of the shaft 14, the actuators 114 and 118 must inhibit the second bevel gear 78 and the third bevel gear 80 in the same direction of rotation relative to one another with the same torque. In order to bring about the reaction of force to the degree of freedom of the translatory movement of the instrument 12 in the direction of the shaft 14, the actuators 118 and 114 must inhibit the bevel gears 78 and 80 in opposite directions, because of the opposite rotational movements of the second bevel gear 78 relative to the third bevel gear 80, if possible with the same torques to counteract this degree of freedom with a force resistance.

Due to the gear arrangement 70, it has become possible that the actuators 114 and 118 do not have to be moved as well. This results in a particularly low-torque implementation of these two degrees of freedom of the instrument 12 and a particularly compact design, since only the bevel gears 72, 78 and 80 and smaller pinions have to be moved on moving parts.

It goes without saying that movements of the instrument 12 in the direction of the shaft 14 and movements of the instrument 12 about the longitudinal axis of the shaft 14 can be carried out simultaneously superimposed on one another.

Furthermore, for the degrees of freedom of the rotary movement about the longitudinal axis of the shaft 14 and the translational movement in the direction of the shaft 14, position detection sensors, not shown in detail, for example in the form of angle encoders, are provided in order to be able to carry out a computer-aided simulation with appropriate software.

It is apparent from the preceding description that the simulator device 10 enables a simulation of four degrees of freedom of movement of the instrument 12, all degrees of freedom being provided with a force reaction. A fifth degree of freedom of movement in the case of the instrument 12 consists in the movement of the movable handle part 20. A force reaction can also be provided for this degree of freedom of movement by, for example, a Bowden cable (not shown) on the movable handle part, which is connected to an actuator (not shown). is connected in the form of a DC motor, is connected. Appropriate position detection sensors detect the current position of the movable handle part for real-time calculation of the force reaction.

Due to the compact design of the simulator device 10, it is possible to use three such devices in the immediate vicinity, one simulator device, for example, an endoscope and two further devices each holding a working instrument. The compact design of the simulator device 10 even enables the instrument tips to touch one another, as is the case with real surgical interventions.

In a manner not shown, the simulator device 10 is connected in one unit to a computing unit via a measurement data acquisition and control card. The kinematics for determining the position of the instrument tip, in the case of the instrument 12 of the tool 16, and the inverse kinematics for distributing the force and moment components at the instrument tip and the software for the control system are stored in a program in the measurement data acquisition and control card.

The actuators described above are only to be understood as examples, and motors of this type can also be realized by hollow shaft motors. In addition, instead of one axial hollow shaft motor coaxially several motors act coaxially on the bevel gears 78 and 80.

Claims

claims

1. Simulator device with at least two degrees of freedom of movement for an instrument (12) which has an elongated shaft (14) with a holding device (24) for the instrument (12), the holding device '(24) being designed such that the instrument (12) has at least a first degree of freedom of a pivoting movement about a first pivot axis (26) and at least a second degree of freedom of a pivoting movement about a second pivot axis (28) running perpendicular to the first pivot axis (26), characterized in that the holding device (24) has a Cardanic suspension, which has a spherical element (46) which is suspended rotatably about the first pivot axis (26) and the second pivot axis (28) and in which the shaft (14) is partially accommodated.

2. Simulator device according to claim 1, characterized in that the gimbal (25) by a bow-shaped element (32) which can be pivoted about the first pivot axis (26) and an annular element which can pivot about the second pivot axis (28) ( 36), with which the spherical element (46) is connected, is formed, the instrument (12) being guided on the bow-shaped element (32).

3. Simulator device according to claim 2, characterized in that on the annular element (36) two with respect to the second pivot axis (28) offset by about 90 ° arranged, opposite receptacles (42, 44) for the spherical element (46) are fastened, the spherical element (46) in the receptacles (42, 44) about an axis of rotation (52) passing through both receptacles relative to the receptacles ( 42, 44) rotatably, perpendicular to this axis of rotation (52) immovably with respect to the receptacles (42, 44).

4. Simulator device according to one of claims 1 to 3, characterized in that the first degree of freedom and the second degree of freedom are provided with a force reaction.

5. Simulator device according to claim 4, characterized in that for the force reaction on the first and second degrees of freedom in each case at least one actuator (56, 60) is provided, which act on the bow-shaped element (32) or the annular element (36).

6. Simulator device according to one of claims 1 to 5, characterized in that the holding device (24) is further designed such that the instrument (12) a third degree of freedom of a rotary movement about the longitudinal axis of the shaft (14) and a fourth degree of freedom of a translational Has movement in the direction of the shaft (14).

7. Simulator device according to claim 6, characterized in that the holding device (24) for the third and fourth degrees of freedom has a gear arrangement (70) which is connected to the shaft (14) and with the first bevel gear (72), which rotates about its longitudinal axis, and a second and a third bevel gear (78, 80), which are arranged on both sides of the first bevel gear (72) and are in rolling engagement therewith.

8. Simulator device according to claim 7, characterized in that the first bevel gear (72) via one or more pinions (86, 88) with a longitudinally extending on the shaft (14) toothing (94) with the shaft (14) in rolling engagement stands.

9. Simulator device according to claim 7 or 8, characterized in that the second and the third bevel gear (78, 80) are arranged concentrically to the shaft (14).

10. Simulator device according to one of claims 6 to 9, characterized in that the gear arrangement (70) is arranged in the spherical element (46).

11. Simulator device according to one of claims 6 to 10, characterized in that the third and fourth degrees of freedom are provided with a force reaction.

12. Simulator device according to claim 11, characterized in that the second and third bevel gear (78, 80) are each connected to one or more actuators (114, 118) for the force reaction.

13. Simulator device according to one of claims 1 to 12, characterized in that for determining the position of the instru A position detection sensor (58, 62) is provided for at least one degree of freedom, preferably for all degrees of freedom.

14. Simulator device according to one of claims 1 to 13, characterized in that the instrument (12) has a movable handle, and that the movable handle is equipped with a force reaction.

15. Use of a simulator device (10) according to one of claims 1 to 14 for simulating a minimally invasive intervention on the human or animal body.